• 전기학회논문지
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• 제60권1호
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• pp.161-166
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• 2011

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.400-403
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• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• Journal of Electrical Engineering and Technology
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• 제9권6호
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• pp.2162-2167
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• 2014

Robots are widely used in various automation processes in industrial applications. Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.168-177
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• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• Journal of Biosystems Engineering
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• 제25권2호
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• pp.141-150
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• 2000

This study was carried out to de develop a control strategy of a fruit harvesting redundant robot. The method of generating a safe trajectory, which avoids collisions with obstracles such as branches or immature fruits, in the 3D(3-dimension) space using artificial potential field technique and virtual plane concept was proposed. Also, the method of setting reference velocity vectors to follow the trajectory and to avoid obstacles in the 3D space was proposed. Developed methods were verified with computer simulations and with actual robot tests. Fro the actual robot tests, a machine vision system was used for detecting fruits and obstacles, Results showed that developed control method could reduce the occurrences of the robot manipulator located in the possible collision distance. with 10 virtual obstacles generated randomly in the 3 D space, maximum rates of the occurrences of the robot manipulator located in the possible collision distance, 0.03 m, from the obstacles were 8 % with 5 degree of freedom (DOF), 8 % with 6-DOF, and 4% with 7-DOF, respectively.

• 한국생산제조학회지
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• 제8권6호
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• 한국산업융합학회 논문집
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• 제26권2_2호
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• pp.249-254
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• 2023

The use of robots in automated factories requires accurate bin-picking to ensure that objects are correctly identified and selected. In the case of atypical objects with multiple reflections from their surfaces, this is a challenging task. In this paper, we developed a random 3D bin picking system by integrating the low-cost vision system with the robotics system. The vision system identifies the position and posture of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2002년도 International Meeting on Information Display
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• pp.887-890
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• 2002

In this paper, a new 3D robot vision system using the hierarchical opto-digital algorithm is proposed and implemented. From some experimental results with the 20 frames of the stereo input image pairs, the proposed system is found to be able to effectively extract the area where the target object is located from the stereo input image regardless of the background noises.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.446-450
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• 1993

In this paper we propose an arc welding robot system, where two robots works coordinately and employ the vision sensor. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. The vision sensor consists of two laser slit-ray projectors and one CCD TV camera, and is mounted on the top of one robot. The vision sensor detects the 3-dimensional shape of the groove on the target work which needs to be weld. And two robots are moved coordinately to trace the grooves with accuracy. In order to realize fast image processing, totally five sets of high-speed parallel processing units (Transputer) are employed. The teaching tasks of the coordinated motions are simplified considerably due to this vision sensor. Experimental results reveal the applicability of our system.